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jenniferdavid authoredf0948038
harbour2 34.32 KiB
<sdf version='1.4'>
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name='ground_plane'>
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<link name='link'>
<collision name='collision'>
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<bounce/>
<contact>
<ode/>
</contact>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='visual'>
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<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<velocity_decay>
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</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
</model>
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
<scene> <ambient>0.4 0.4 0.4 1</ambient>
<background>0.7 0.7 0.7 1</background>
<shadows>1</shadows>
</scene>
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<latitude_deg>0</latitude_deg>
<longitude_deg>0</longitude_deg>
<elevation>0</elevation>
<heading_deg>0</heading_deg>
</spherical_coordinates>
<model name='container20'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
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</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>-7.58629 0 0 0 -0 0</pose>
</model>
<model name='container20_0'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision> <visual name='visual'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
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</velocity_decay>
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<gravity>1</gravity>
</link>
<pose>-9 5 0 0 -0 0</pose>
</model>
<model name='strad'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://strad/model.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://strad/model.dae</uri>
</mesh>
</geometry>
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<linear>0</linear>
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</velocity_decay>
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<gravity>1</gravity>
</link>
<pose>17.4871 -16 0 0 -0 0</pose>
</model>
<model name='container-multi-multi-stack'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-multi-multi-stack/containerstack2.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/> </friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-multi-multi-stack/containerstack2.dae</uri>
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</velocity_decay>
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<gravity>1</gravity>
</link>
<pose>39 9.5248 0 0 -0 0</pose>
</model>
<model name='container-multi-stack'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-7 32 0 0 -0 0</pose>
</model>
<model name='container40'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh> </geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>9 36 0 0 -0 0</pose>
</model>
<model name='container40_0'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
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<linear>0</linear>
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</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>10 25 0 0 -0 0</pose>
</model>
<model name='container-multi-stack_0'>
<static>1</static>
<link name='chassis'> <pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-21.4762 34 0 0 -0 0</pose>
</model>
<model name='container-triple-stack'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity> </link>
<pose>39 -19.497 0 0 -0 0</pose>
</model>
<model name='Stop Sign'>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://stop_sign/meshes/stop_sign.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>model://stop_sign/materials/scripts</uri>
<uri>model://stop_sign/materials/textures</uri>
<name>StopSign/Diffuse</name>
</script>
</material>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1</mass>
</inertial>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>21 8 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Barrel'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz> </inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>35 -9 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Construction Barrel_0'>
<link name='link'>
<inertial>
<pose>0 0 0.4 0 -0 0</pose>
<mass>500</mass>
<inertia>
<ixx>51.2096</ixx>
<iyy>51.2096</iyy>
<izz>25</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry> <mesh>
<uri>model://construction_barrel/meshes/construction_barrel.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>40 -9 0 0 -0 0</pose>
<static>0</static>
</model>
<model name='Lamp Post'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>16 -30 0 0 -0 0</pose>
</model>
<model name='Lamp Post_0'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/> </contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>23 -30 0 0 -0 0</pose>
</model>
<model name='Lamp Post_1'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>28 -30 0 0 -0 0</pose>
</model>
<model name='Lamp Post_2'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction> <ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>33 -30.5687 0 0 -0 0</pose>
</model>
<model name='Lamp Post_3'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
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<linear>0</linear>
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</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>39 -31 0 0 -0 0</pose>
</model>
<model name='Lamp Post_4'>
<static>1</static>
<link name='link'>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry> <max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://lamp_post/meshes/lamp_post.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
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<gravity>1</gravity>
</link>
<pose>43 -31 0 0 -0 0</pose>
</model>
<model name='container-triple-stack_0'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-triple-stack/model.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>39 -26 0 0 -0 0</pose>
</model>
<model name='container-multi-stack_1'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0 0 -0 0</pose> <collision name='collision'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container-multi-stack/container-multi-stack.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-38 37 0 0 -0 0</pose>
</model>
<model name='container20_1'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container20/CONTAINER20.dae</uri>
</mesh>
</geometry>
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<velocity_decay>
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<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link> <pose>-10.5512 13 0 0 -0 0</pose>
</model>
<model name='container40_1'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
<friction>
<ode/>
</friction>
<contact>
<ode/>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay>
<linear>0</linear>
<angular>0</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<gravity>1</gravity>
</link>
<pose>-41 16 0 0 -0 0</pose>
</model>
<model name='container40_2'>
<static>1</static>
<link name='chassis'>
<pose>0 0 0.1 0 -0 0</pose>
<collision name='collision'>
<geometry>
<mesh>
<uri>model://container40/CONTAINER40.dae</uri>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<bounce/>
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<model name='container20'>
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<model name='container20_0'>
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<model name='container40'>
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<model name='container40_0'>
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<model name='container40_1'>
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<model name='container40_2'>
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<model name='strad'>
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<gui fullscreen='0'>
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<view_controller>orbit</view_controller>
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